Error in ROS Melodic
Closed this issue · 12 comments
zgerrard commented
Hi,
I tried to compile the source from the kinetic-devel branch on ROS Melodic. However, when I try to launch the demo from husky_ur_moveit_config I get the following error (roslaunch husky_ur_moveit_config demo.launch) : Link 'ur_arm_base_link' declared as part of a chain in group 'manipulator' is not known to the URDF.
Here are the errors that I am getting:
[ERROR] [1599795561.244283232]: Link 'ur_arm_base_link' declared as part of a chain in group 'manipulator' is not known to the URDF
[ WARN] [1599795561.244312112]: Group 'manipulator' is empty.
[ERROR] [1599795561.244339882]: Joint 'ur_arm_elbow_joint' declared as part of group state 'stow' is not known to the URDF
[ERROR] [1599795561.244347801]: Joint 'ur_arm_shoulder_lift_joint' declared as part of group state 'stow' is not known to the URDF
[ERROR] [1599795561.244381223]: Joint 'ur_arm_shoulder_pan_joint' declared as part of group state 'stow' is not known to the URDF
[ERROR] [1599795561.244388869]: Joint 'ur_arm_wrist_1_joint' declared as part of group state 'stow' is not known to the URDF
[ERROR] [1599795561.244396254]: Joint 'ur_arm_wrist_2_joint' declared as part of group state 'stow' is not known to the URDF
[ERROR] [1599795561.244402705]: Joint 'ur_arm_wrist_3_joint' declared as part of group state 'stow' is not known to the URDF
[ WARN] [1599795561.244470350]: Link 'ur_arm_base_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1599795561.244503166]: Link 'ur_arm_shoulder_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1599795561.244508631]: Link 'ur_arm_wrist_2_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1599795561.244514787]: Link 'ur_arm_wrist_3_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1599795561.244523745]: Link 'ur_plate_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1599795561.244534023]: Link 'ur_arm_base_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1599795561.244540536]: Link 'ur_arm_shoulder_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1599795561.244545789]: Link 'ur_plate_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1599795561.244556035]: Link 'ur_arm_base_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1599795561.244563223]: Link 'ur_arm_shoulder_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1599795561.244569158]: Link 'ur_plate_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1599795561.244577779]: Link 'ur_arm_base_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1599795561.244585300]: Link 'ur_arm_shoulder_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1599795561.244591491]: Link 'ur_plate_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1599795561.244599370]: Link 'ur_arm_base_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1599795561.244605990]: Link 'ur_arm_shoulder_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1599795561.244612871]: Link 'ur_arm_upper_arm_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1599795561.244620440]: Link 'ur_plate_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1599795561.244628568]: Link 'ur_arm_base_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1599795561.244635768]: Link 'ur_arm_shoulder_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1599795561.244643237]: Link 'ur_arm_upper_arm_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1599795561.244650470]: Link 'ur_plate_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1599795561.244658213]: Link 'ur_arm_base_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1599795561.244664189]: Link 'ur_arm_shoulder_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1599795561.244671054]: Link 'ur_arm_upper_arm_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1599795561.244678979]: Link 'ur_plate_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1599795561.244685687]: Link 'ur_arm_base_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1599795561.244692762]: Link 'ur_arm_shoulder_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1599795561.244699913]: Link 'ur_plate_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1599795561.244705864]: Link 'ur_arm_base_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1599795561.244712613]: Link 'ur_arm_base_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1599795561.244718693]: Link 'ur_arm_ee_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1599795561.244725901]: Link 'ur_arm_ee_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1599795561.244732732]: Link 'ur_arm_ee_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1599795561.244739874]: Link 'ur_arm_forearm_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1599795561.244745651]: Link 'ur_arm_forearm_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1599795561.244752785]: Link 'ur_arm_shoulder_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1599795561.244759826]: Link 'ur_arm_shoulder_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1599795561.244766819]: Link 'ur_arm_wrist_1_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1599795561.244773605]: Link 'ur_arm_wrist_1_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1599795561.244781193]: Link 'ur_arm_wrist_2_link' is not known to URDF. Cannot disable collisons.
[ INFO] [1599795561.244856595]: Loading robot model 'husky'...
[ INFO] [1599795561.244875315]: No root/virtual joint specified in SRDF. Assuming fixed joint
[ WARN] [1599795561.244985395]: Link front_bumper_link has visual geometry but no collision geometry. Collision geometry will be left empty. Fix your URDF file by explicitly specifying collision geometry.
[ WARN] [1599795561.245044321]: Link rear_bumper_link has visual geometry but no collision geometry. Collision geometry will be left empty. Fix your URDF file by explicitly specifying collision geometry.
[ WARN] [1599795561.245062096]: Link top_chassis_link has visual geometry but no collision geometry. Collision geometry will be left empty. Fix your URDF file by explicitly specifying collision geometry.
[ WARN] [1599795561.245430264]: Link user_rail_link has visual geometry but no collision geometry. Collision geometry will be left empty. Fix your URDF file by explicitly specifying collision geometry.
[ WARN] [1599795561.245549111]: Group 'manipulator' must have at least one valid joint
Do you know how I can fix it by any chance?
Update: looking through demo.launch I haven't found ur_arm being imported anywhere. Please, could you add instructions to README on how to properly launch husky with UR5 in simulation? Thank you so much.
dniewinski commented
It looks like the URDF isn't setup properly. Make sure to source one of these scripts before launching to setup the environment variables properly:
https://github.com/husky/husky_manipulation/tree/kinetic-devel/husky_ur_description/scripts
If you are using a custom URDF, there are instructions in the README for how to setup your URDF properly.
zgerrard commented
Thank you so much for your suggestion - it solved the errors! Do you know by any chance how I can launch this setup in gazebo?
When I launch roslaunch husky_gen3_moveit_config gazebo.launch I get the following error:
Error [parser_urdf.cc:3166] Unable to call parseURDF on robot model
Error [parser.cc:406] parse as old deprecated model file failed.
dniewinski commented
At least in Kinetic, there were serious issues with simulating in Gazebo, so we didn't support it. I haven't revisited it for Melodic. Have a look at husky_gazebo when you have the environment variables set and see if that gets you going in the right direction
Abduoit commented
Hi
I have the same error (using ROS Kinetic) even when I source the script.
Can anyone please tell me how to source the file setup_husky_ur5_envar?? I am not sure if I am missing anything.
1- Works fine
roslaunch husky_ur_bringup husky_ur_bringup.launch
2- Gives error
roslaunch husky_ur_moveit_config husky_ur_moveit_planning_execution.launch
[ERROR] [1601914072.853879119]: Link 'ur_arm_base_link' declared as part of a chain in group 'manipulator' is not known to the URDF
[ WARN] [1601914072.853946625]: Group 'manipulator' is empty.
[ERROR] [1601914072.853994937]: Joint 'ur_arm_elbow_joint' declared as part of group state 'stow' is not known to the URDF
[ERROR] [1601914072.854015463]: Joint 'ur_arm_shoulder_lift_joint' declared as part of group state 'stow' is not known to the URDF
[ERROR] [1601914072.854057370]: Joint 'ur_arm_shoulder_pan_joint' declared as part of group state 'stow' is not known to the URDF
[ERROR] [1601914072.854076289]: Joint 'ur_arm_wrist_1_joint' declared as part of group state 'stow' is not known to the URDF
[ERROR] [1601914072.854095097]: Joint 'ur_arm_wrist_2_joint' declared as part of group state 'stow' is not known to the URDF
[ERROR] [1601914072.854113948]: Joint 'ur_arm_wrist_3_joint' declared as part of group state 'stow' is not known to the URDF
[ WARN] [1601914072.854164362]: Link 'ur_arm_base_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1601914072.854182313]: Link 'ur_arm_shoulder_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1601914072.854200510]: Link 'ur_arm_wrist_2_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1601914072.854217925]: Link 'ur_arm_wrist_3_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1601914072.854235795]: Link 'ur_plate_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1601914072.854266961]: Link 'ur_arm_base_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1601914072.854283769]: Link 'ur_arm_shoulder_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1601914072.854309184]: Link 'ur_plate_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1601914072.854335848]: Link 'ur_arm_base_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1601914072.854353013]: Link 'ur_arm_shoulder_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1601914072.854370585]: Link 'ur_plate_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1601914072.854394473]: Link 'ur_arm_base_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1601914072.854412175]: Link 'ur_arm_shoulder_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1601914072.854430239]: Link 'ur_plate_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1601914072.854453557]: Link 'ur_arm_base_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1601914072.854471574]: Link 'ur_arm_shoulder_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1601914072.854490133]: Link 'ur_arm_upper_arm_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1601914072.854507941]: Link 'ur_plate_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1601914072.854529494]: Link 'ur_arm_base_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1601914072.854546854]: Link 'ur_arm_shoulder_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1601914072.854565233]: Link 'ur_arm_upper_arm_link' is not known to URDF. Cannot disable collisons.
dniewinski commented
Before step 1, in the same terminal, run
roscd husky_ur_description/scripts/
source setup_husky_ur5_envar
Abduoit commented
Hi @dniewinski
I did the source, but I still have same error above. Both husky_manipulation and ur_modern_driver in kinetic-devel.
Do I need to add the following line ?
<xacro:include filename="$(find husky_ur_description)/urdf/husky_ur5_description.urdf.xacro" />
I am using single UR5. Am I missing something else ???
Abduoit commented
Here I provide the output of the two terminals: I sourced the script in both terminals but same issue still there?
Any help is appreciated ?
Terminal 1
administrator@administrator:~$ roscd husky_ur_description/scripts/
administrator@administrator:~/catkin_ws/src/husky_manipulation/husky_ur_description/scripts$ source setup_husky_ur5_envar
administrator@administrator:~/catkin_ws/src/husky_manipulation/husky_ur_description/scripts$ roslaunch husky_ur_bringup husky_ur_bringup.launch
... logging to /home/administrator/.ros/log/54d0d1c4-0741-11eb-8286-003018cfc22a/roslaunch-administrator-16380.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
started roslaunch server http://administrator:46705/
SUMMARY
========
PARAMETERS
* /rosdistro: kinetic
* /rosversion: 1.12.16
* /tf2_buffer_server/buffer_size: 120.0
* /ur_driver/prefix: ur_arm_
* /ur_driver/robot_ip_address: 192.168.131.40
* /ur_driver/servoj_time: 0.008
NODES
/
tf2_buffer_server (tf2_ros/buffer_server)
ur_driver (ur_modern_driver/ur_driver)
ROS_MASTER_URI=http://localhost:11311
process[ur_driver-1]: started with pid [16410]
process[tf2_buffer_server-2]: started with pid [16411]
[ INFO] [1601927012.072592328]: Setting up connection: 192.168.131.40:30003
[ INFO] [1601927012.072935251]: Connection established for 192.168.131.40:30003
[ INFO] [1601927012.072961497]: Setting up connection: 192.168.131.40:30001
[ INFO] [1601927012.073111061]: Connection established for 192.168.131.40:30001
[ INFO] [1601927012.547041794]: Got VersionMessage:
[ INFO] [1601927012.547060812]: project name: URControl
[ INFO] [1601927012.547069915]: version: 3.9.0
[ INFO] [1601927012.547077917]: build date: 21-02-2019, 15:09:20
[ INFO] [1601927012.547086536]: Disconnecting from 192.168.131.40:30001
[ INFO] [1601927012.565180719]: ActionServer enabled
[ INFO] [1601927012.565219665]: Use standard trajectory follower
[ INFO] [1601927012.569242208]: Setting up connection: :50001
[ INFO] [1601927012.569990474]: Connection established for :50001
[ INFO] [1601927012.570067023]: Initializing ur_driver/URScript subscriber
[ INFO] [1601927012.580743636]: The ur_driver/URScript initialized
[ INFO] [1601927012.580771929]: Notifier: Pipeline disconnect will shutdown the node
[ INFO] [1601927012.586227259]: Service 'ur_driver/robot_enable' activation mode: Never
[ INFO] [1601927012.586256807]: Starting main loop
[ INFO] [1601927012.586314439]: Starting pipeline RTPacket
[ INFO] [1601927012.586361645]: Starting pipeline StatePacket
[ INFO] [1601927012.586475661]: Setting up connection: 192.168.131.40:30002
[ INFO] [1601927012.586532493]: Setting up connection: 192.168.131.40:30003
[ INFO] [1601927012.586635857]: Connection established for 192.168.131.40:30002
[ INFO] [1601927012.586691515]: Connection established for 192.168.131.40:30003
[ INFO] [1601927012.589379909]: Starting ActionServer
[ INFO] [1601927012.589471654]: Trajectory thread started
Terminal 2
administrator@administrator:~/catkin_ws/src/husky_manipulation/husky_ur_description/scripts$ source setup_husky_ur5_envar
administrator@administrator:~/catkin_ws/src/husky_manipulation/husky_ur_description/scripts$ roslaunch husky_ur_moveit_config husky_ur_moveit_planning_executio
n.launch
... logging to /home/administrator/.ros/log/54d0d1c4-0741-11eb-8286-003018cfc22a/roslaunch-administrator-16697.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
started roslaunch server http://administrator:33169/
SUMMARY
========
PARAMETERS
* /move_group/allow_trajectory_execution: True
* /move_group/controller_list: [{'action_ns': 'f...
* /move_group/jiggle_fraction: 0.05
* /move_group/manipulator/longest_valid_segment_fraction: 0.05
* /move_group/manipulator/planner_configs: ['SBLkConfigDefau...
* /move_group/manipulator/projection_evaluator: joints(ur_arm_sho...
* /move_group/max_range: 5.0
* /move_group/max_safe_path_cost: 1
* /move_group/moveit_controller_manager: moveit_simple_con...
* /move_group/moveit_manage_controllers: True
* /move_group/octomap_resolution: 0.025
* /move_group/planner_configs/BKPIECEkConfigDefault/border_fraction: 0.9
* /move_group/planner_configs/BKPIECEkConfigDefault/failed_expansion_score_factor: 0.5
* /move_group/planner_configs/BKPIECEkConfigDefault/min_valid_path_fraction: 0.5
* /move_group/planner_configs/BKPIECEkConfigDefault/range: 0.0
* /move_group/planner_configs/BKPIECEkConfigDefault/type: geometric::BKPIECE
* /move_group/planner_configs/ESTkConfigDefault/goal_bias: 0.05
* /move_group/planner_configs/ESTkConfigDefault/range: 0.0
* /move_group/planner_configs/ESTkConfigDefault/type: geometric::EST
* /move_group/planner_configs/KPIECEkConfigDefault/border_fraction: 0.9
* /move_group/planner_configs/KPIECEkConfigDefault/failed_expansion_score_factor: 0.5
* /move_group/planner_configs/KPIECEkConfigDefault/goal_bias: 0.05
* /move_group/planner_configs/KPIECEkConfigDefault/min_valid_path_fraction: 0.5
* /move_group/planner_configs/KPIECEkConfigDefault/range: 0.0
* /move_group/planner_configs/KPIECEkConfigDefault/type: geometric::KPIECE
* /move_group/planner_configs/LBKPIECEkConfigDefault/border_fraction: 0.9
* /move_group/planner_configs/LBKPIECEkConfigDefault/min_valid_path_fraction: 0.5
* /move_group/planner_configs/LBKPIECEkConfigDefault/range: 0.0
* /move_group/planner_configs/LBKPIECEkConfigDefault/type: geometric::LBKPIECE
* /move_group/planner_configs/PRMkConfigDefault/max_nearest_neighbors: 10
* /move_group/planner_configs/PRMkConfigDefault/type: geometric::PRM
* /move_group/planner_configs/PRMstarkConfigDefault/type: geometric::PRMstar
* /move_group/planner_configs/RRTConnectkConfigDefault/range: 0.0
* /move_group/planner_configs/RRTConnectkConfigDefault/type: geometric::RRTCon...
* /move_group/planner_configs/RRTkConfigDefault/goal_bias: 0.05
* /move_group/planner_configs/RRTkConfigDefault/range: 0.0
* /move_group/planner_configs/RRTkConfigDefault/type: geometric::RRT
* /move_group/planner_configs/RRTstarkConfigDefault/delay_collision_checking: 1
* /move_group/planner_configs/RRTstarkConfigDefault/goal_bias: 0.05
* /move_group/planner_configs/RRTstarkConfigDefault/range: 0.0
* /move_group/planner_configs/RRTstarkConfigDefault/type: geometric::RRTstar
* /move_group/planner_configs/SBLkConfigDefault/range: 0.0
* /move_group/planner_configs/SBLkConfigDefault/type: geometric::SBL
* /move_group/planner_configs/TRRTkConfigDefault/frountierNodeRatio: 0.1
* /move_group/planner_configs/TRRTkConfigDefault/frountier_threshold: 0.0
* /move_group/planner_configs/TRRTkConfigDefault/goal_bias: 0.05
* /move_group/planner_configs/TRRTkConfigDefault/init_temperature: 10e-6
* /move_group/planner_configs/TRRTkConfigDefault/k_constant: 0.0
* /move_group/planner_configs/TRRTkConfigDefault/max_states_failed: 10
* /move_group/planner_configs/TRRTkConfigDefault/min_temperature: 10e-10
* /move_group/planner_configs/TRRTkConfigDefault/range: 0.0
* /move_group/planner_configs/TRRTkConfigDefault/temp_change_factor: 2.0
* /move_group/planner_configs/TRRTkConfigDefault/type: geometric::TRRT
* /move_group/planning_plugin: ompl_interface/OM...
* /move_group/planning_scene_monitor/publish_geometry_updates: True
* /move_group/planning_scene_monitor/publish_planning_scene: True
* /move_group/planning_scene_monitor/publish_state_updates: True
* /move_group/planning_scene_monitor/publish_transforms_updates: True
* /move_group/request_adapters: default_planner_r...
* /move_group/start_state_max_bounds_error: 0.1
* /move_group/trajectory_execution/allowed_execution_duration_scaling: 1.2
* /move_group/trajectory_execution/allowed_goal_duration_margin: 0.5
* /move_group/trajectory_execution/allowed_start_tolerance: 0.01
* /move_group/trajectory_execution/execution_duration_monitoring: False
* /move_group/use_controller_manager: False
* /robot_description_kinematics/manipulator/kinematics_solver: trac_ik_kinematic...
* /robot_description_kinematics/manipulator/kinematics_solver_attempts: 3
* /robot_description_kinematics/manipulator/kinematics_solver_search_resolution: 0.005
* /robot_description_kinematics/manipulator/kinematics_solver_timeout: 0.005
* /robot_description_planning/joint_limits/ur_arm_elbow_joint/has_acceleration_limits: False
* /robot_description_planning/joint_limits/ur_arm_elbow_joint/has_velocity_limits: True
* /robot_description_planning/joint_limits/ur_arm_elbow_joint/max_acceleration: 0
* /robot_description_planning/joint_limits/ur_arm_elbow_joint/max_velocity: 3.15
* /robot_description_planning/joint_limits/ur_arm_shoulder_lift_joint/has_acceleration_limits: False
* /robot_description_planning/joint_limits/ur_arm_shoulder_lift_joint/has_velocity_limits: True
* /robot_description_planning/joint_limits/ur_arm_shoulder_lift_joint/max_acceleration: 0
* /robot_description_planning/joint_limits/ur_arm_shoulder_lift_joint/max_velocity: 3.15
* /robot_description_planning/joint_limits/ur_arm_shoulder_pan_joint/has_acceleration_limits: False
* /robot_description_planning/joint_limits/ur_arm_shoulder_pan_joint/has_velocity_limits: True
* /robot_description_planning/joint_limits/ur_arm_shoulder_pan_joint/max_acceleration: 0
* /robot_description_planning/joint_limits/ur_arm_shoulder_pan_joint/max_velocity: 3.15
* /robot_description_planning/joint_limits/ur_arm_wrist_1_joint/has_acceleration_limits: False
* /robot_description_planning/joint_limits/ur_arm_wrist_1_joint/has_velocity_limits: True
* /robot_description_planning/joint_limits/ur_arm_wrist_1_joint/max_acceleration: 0
* /robot_description_planning/joint_limits/ur_arm_wrist_1_joint/max_velocity: 3.2
* /robot_description_planning/joint_limits/ur_arm_wrist_2_joint/has_acceleration_limits: False
* /robot_description_planning/joint_limits/ur_arm_wrist_2_joint/has_velocity_limits: True
* /robot_description_planning/joint_limits/ur_arm_wrist_2_joint/max_acceleration: 0
* /robot_description_planning/joint_limits/ur_arm_wrist_2_joint/max_velocity: 3.2
* /robot_description_planning/joint_limits/ur_arm_wrist_3_joint/has_acceleration_limits: False
* /robot_description_planning/joint_limits/ur_arm_wrist_3_joint/has_velocity_limits: True
* /robot_description_planning/joint_limits/ur_arm_wrist_3_joint/max_acceleration: 0
* /robot_description_planning/joint_limits/ur_arm_wrist_3_joint/max_velocity: 3.2
* /robot_description_semantic: <?xml version="1....
* /rosdistro: kinetic
* /rosversion: 1.12.16
NODES
/
move_group (moveit_ros_move_group/move_group)
ROS_MASTER_URI=http://localhost:11311
process[move_group-1]: started with pid [16725]
[ERROR] [1601927032.772560803]: Link 'ur_arm_base_link' declared as part of a chain in group 'manipulator' is not known to the URDF
[ WARN] [1601927032.772637481]: Group 'manipulator' is empty.
[ERROR] [1601927032.772690990]: Joint 'ur_arm_elbow_joint' declared as part of group state 'stow' is not known to the URDF
[ERROR] [1601927032.772711758]: Joint 'ur_arm_shoulder_lift_joint' declared as part of group state 'stow' is not known to the URDF
[ERROR] [1601927032.772733044]: Joint 'ur_arm_shoulder_pan_joint' declared as part of group state 'stow' is not known to the URDF
[ERROR] [1601927032.772754240]: Joint 'ur_arm_wrist_1_joint' declared as part of group state 'stow' is not known to the URDF
[ERROR] [1601927032.772774111]: Joint 'ur_arm_wrist_2_joint' declared as part of group state 'stow' is not known to the URDF
[ERROR] [1601927032.772792190]: Joint 'ur_arm_wrist_3_joint' declared as part of group state 'stow' is not known to the URDF
[ WARN] [1601927032.772843754]: Link 'ur_arm_base_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1601927032.772862401]: Link 'ur_arm_shoulder_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1601927032.772883251]: Link 'ur_arm_wrist_2_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1601927032.772901659]: Link 'ur_arm_wrist_3_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1601927032.772920334]: Link 'ur_plate_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1601927032.772954261]: Link 'ur_arm_base_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1601927032.772971540]: Link 'ur_arm_shoulder_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1601927032.772991622]: Link 'ur_plate_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1601927032.773019260]: Link 'ur_arm_base_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1601927032.773036264]: Link 'ur_arm_shoulder_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1601927032.773055868]: Link 'ur_plate_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1601927032.773081384]: Link 'ur_arm_base_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1601927032.773098342]: Link 'ur_arm_shoulder_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1601927032.773116781]: Link 'ur_plate_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1601927032.773140549]: Link 'ur_arm_base_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1601927032.773157327]: Link 'ur_arm_shoulder_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1601927032.773176026]: Link 'ur_arm_upper_arm_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1601927032.773194373]: Link 'ur_plate_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1601927032.773216542]: Link 'ur_arm_base_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1601927032.773233838]: Link 'ur_arm_shoulder_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1601927032.773252453]: Link 'ur_arm_upper_arm_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1601927032.773270553]: Link 'ur_plate_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1601927032.773291087]: Link 'ur_arm_base_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1601927032.773308685]: Link 'ur_arm_shoulder_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1601927032.773327000]: Link 'ur_arm_upper_arm_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1601927032.773345210]: Link 'ur_plate_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1601927032.773370462]: Link 'ur_arm_base_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1601927032.773386831]: Link 'ur_arm_shoulder_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1601927032.773403127]: Link 'ur_plate_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1601927032.773419440]: Link 'ur_arm_base_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1601927032.773435738]: Link 'ur_arm_base_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1601927032.773451915]: Link 'ur_arm_ee_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1601927032.773468198]: Link 'ur_arm_ee_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1601927032.773484431]: Link 'ur_arm_ee_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1601927032.773500710]: Link 'ur_arm_forearm_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1601927032.773518872]: Link 'ur_arm_forearm_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1601927032.773543679]: Link 'ur_arm_shoulder_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1601927032.773558464]: Link 'ur_arm_shoulder_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1601927032.773575150]: Link 'ur_arm_wrist_1_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1601927032.773591668]: Link 'ur_arm_wrist_1_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1601927032.773609098]: Link 'ur_arm_wrist_2_link' is not known to URDF. Cannot disable collisons.
[ INFO] [1601927032.773699415]: Loading robot model 'husky'...
[ INFO] [1601927032.773726211]: No root/virtual joint specified in SRDF. Assuming fixed joint
[ WARN] [1601927032.844216837]: Group 'manipulator' must have at least one valid joint
[ WARN] [1601927032.844261462]: Failed to add group 'manipulator'
[ERROR] [1601927032.844289163]: Group state 'stow' specified for group 'manipulator', but that group does not exist
[ INFO] [1601927033.041928150]: Publishing maintained planning scene on 'monitored_planning_scene'
[ INFO] [1601927033.049406134]: MoveGroup debug mode is OFF
Starting context monitors...
[ INFO] [1601927033.049450078]: Starting scene monitor
[ INFO] [1601927033.059178664]: Listening to '/planning_scene'
[ INFO] [1601927033.059213598]: Starting world geometry monitor
[ INFO] [1601927033.067830561]: Listening to '/collision_object' using message notifier with target frame '/base_link '
[ INFO] [1601927033.079759099]: Listening to '/planning_scene_world' for planning scene world geometry
[ INFO] [1601927033.187153583]: Listening to '/attached_collision_object' for attached collision objects
Context monitors started.
[ INFO] [1601927033.219704731]: Initializing OMPL interface using ROS parameters
[ INFO] [1601927033.250849381]: Using planning interface 'OMPL'
[ INFO] [1601927033.254482916]: Param 'default_workspace_bounds' was not set. Using default value: 10
[ INFO] [1601927033.255933745]: Param 'start_state_max_bounds_error' was set to 0.1
[ INFO] [1601927033.257514389]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1601927033.258987060]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1601927033.260357659]: Param 'jiggle_fraction' was set to 0.05
[ INFO] [1601927033.261652583]: Param 'max_sampling_attempts' was not set. Using default value: 100
[ INFO] [1601927033.261715064]: Using planning request adapter 'Add Time Parameterization'
[ INFO] [1601927033.261737898]: Using planning request adapter 'Fix Workspace Bounds'
[ INFO] [1601927033.261756337]: Using planning request adapter 'Fix Start State Bounds'
[ INFO] [1601927033.261773882]: Using planning request adapter 'Fix Start State In Collision'
[ INFO] [1601927033.261793058]: Using planning request adapter 'Fix Start State Path Constraints'
[ERROR] [1601927033.296624493]: Joint 'ur_arm_shoulder_pan_joint' not found in model 'husky'
[ERROR] [1601927033.296657388]: Joint 'ur_arm_shoulder_lift_joint' not found in model 'husky'
[ERROR] [1601927033.296675975]: Joint 'ur_arm_elbow_joint' not found in model 'husky'
[ERROR] [1601927033.296693120]: Joint 'ur_arm_wrist_1_joint' not found in model 'husky'
[ERROR] [1601927033.296712168]: Joint 'ur_arm_wrist_2_joint' not found in model 'husky'
[ERROR] [1601927033.296726534]: Joint 'ur_arm_wrist_3_joint' not found in model 'husky'
[ERROR] [1601927033.304814021]: Joint 'ur_arm_shoulder_pan_joint' not found in model 'husky'
[ERROR] [1601927033.304854036]: Joint 'ur_arm_shoulder_lift_joint' not found in model 'husky'
[ERROR] [1601927033.304875207]: Joint 'ur_arm_elbow_joint' not found in model 'husky'
[ERROR] [1601927033.304902084]: Joint 'ur_arm_wrist_1_joint' not found in model 'husky'
[ERROR] [1601927033.304916888]: Joint 'ur_arm_wrist_2_joint' not found in model 'husky'
[ERROR] [1601927033.304930744]: Joint 'ur_arm_wrist_3_joint' not found in model 'husky'
dniewinski commented
Is this all running on a Husky already?
Abduoit commented
Yes, all running on Husky!!
dniewinski commented
ah. If it is running on the Husky, you need to source the script in the husky's /etc/ros/setup.bash and restart the robot. in that file, add the line:
source /husky_ur_description/scripts/setup_husky_ur5_envar
dniewinski commented
@Abduoit If you are still having issues after trying the above, please open a new Issue here on github
Abduoit commented
Thanks
it works by adding the full path source Full/Path/To/husky_ur_description/scripts/setup_husky_ur5_envar